Design, Control, and Evaluation of a Hyper-redundant Haptic Device

Abstract-We consider the problem of automatically designing model-based controllers of modular robot manipulators in a systematic way. Modular robots are especially useful in flexible manufacturing, where one wishes to quickly assemble robots from a set of modules for temporary tasks. The evaluation of all possible dynamical models is typically impractical, undermining the implementation of model-based control laws. Contrary to most other work that approached this challenge by designing decentralized controllers, we generate on-the-fly model-based centralized controllers after a new robot has been assembled. In this brief we extend the applicability of our previous work on this subject by considering both link and joint modules, assemblydependent friction effects and we finally present experiments that validate the overall approach.

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“…As described in [27], the load at the joints of a robot may affect the friction model significantly. This aspect deserves I II III Fig.…”

Section: Model-based Controller Synthesismentioning

confidence: 99%

On-the-Fly Control Design of Modular Robot Manipulators

Giusti

Althoff

2018

IEEE Trans. Contr. Syst. Technol.

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“…In this work output capabilities are studied for force, velocity, and acceleration with the help of the previously determined kinematic and dynamic models. The evaluation is based on the method proposed in [26]. The algorithm transforms the analysis into an optimization problem in order to find the direction of the minimum of the maximum output vector at a given point in the workspace.…”

Section: B Output Capability and Dexterous Workpacementioning

confidence: 99%

Design of a new MR-compatible haptic interface with six actuated degrees of freedom

Ergin

Kühne

Thielscher

et al. 2014

5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics

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Abstract-Functional magnetic resonance imaging is an often adopted tool to study human motor control mechanisms. Highly controlled experiments as required by this form of analysis can be realized with haptic interfaces. Their design is challenging because of strong safety and MR compatibility requirements. Existing MR-compatible haptic interfaces are restricted to maximum three actuated degrees of freedom. We propose an MR-compatible haptic interface with six actuated degrees of freedom to be able to study human brain mechanisms of natural pick-and-place movements including arm transport. In this work, we present its mechanical design, kinematic and dynamic model, as well as report on its model-based characterization. A novel hybrid control scheme for the employed ultrasonic motors is introduced. Preliminary MR compatibility tests based on one complete actuator-sensor module are performed. No measurable noise is found and thus, bidirectional compatibility of the six DoF interface can be expected.

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“…Technical device specifications are summarized in Table 8.1. A detailed description of the mechatronic design is provided in [36] [38].…”

Section: Kinesthetic Feedback: Vishard 10mentioning

confidence: 99%

Multi-modal VR Systems

Fritschi

Esen

Buss

et al. 2008

Springer Tracts in Advanced Robotics

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First, kinesthetic, tactile, visual and acoustic hardware used for multi-modal systems are introduced individually. Then the integration of the hardware into multi-modal VR systems and chosen applications are explained. The kinesthetictactile integrated systems are evaluated. The objective of the evaluations has been the study of the psychophysical correlation between the tactile and the kinesthetic portion of haptic information.

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Design, Control, and Evaluation of a Hyper-redundant Haptic Device

Cited by 11 publications

References 17 publications

On-the-Fly Control Design of Modular Robot Manipulators

On-the-Fly Control Design of Modular Robot Manipulators

Design of a new MR-compatible haptic interface with six actuated degrees of freedom

Multi-modal VR Systems

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